INTRODUCTION

An embedded system is a special-purpose system in which the computer is completely

encapsulated by or dedicated to the device or system it controls. Unlike a general-purpose
computer, such as a personal computer, an embedded system performs one or a few predefined
tasks, usually with very specific requirements. Since the system is dedicated to specific tasks,
design engineers can optimize it, reducing the size and cost of the product. Embedded systems
are often mass-produced, benefiting from economies of scale.
Personal digital assistants (PDAs) or handheld computers
are generally considered embedded devices because of the nature of
their hardware design, even though they are more expandable in
software terms. This line of definition continues to blur as devices
expand. With the introduction of the OQO Model 2 with the
Windows XP operating system and ports such as a USB port —
both features usually belong to "general purpose computers", — the
line of nomenclature blurs even more.
Embedded systems plays major role in electronics varies from portable devices to large
stationary installations like digital watches and MP3 players, traffic lights, factory controllers, or
the systems controlling nuclear power plants.
In terms of complexity embedded systems can range from very simple with a single
Raspberry pi chip, to very complex with multiple units, peripherals and networks mounted inside
a large chassis or enclosure.

Examples of Embedded Systems:

 Avionics, such as inertial guidance systems, flight control hardware/software and other
integrated systems in aircraft and missiles
 Cellular telephones and telephone switches
 Engine controllers and antilock brake controllers for automobiles
 Home automation products, such as thermostats, air conditioners, sprinklers, and security
monitoring systems
 Handheld calculators
 Handheld computers
  Household appliances, including microwave ovens, washing machines, television sets,
DVD players and recorders
 Medical equipment
 Personal digital assistant
 Videogame consoles
 Computer peripherals such as routers and printers.
 Industrial controllers for remote machine operation.

LITERATURE SURVEY

R. M. Sahu, Mamatta. S. Sawant designed a wireless detection of landmines using GPS and GSM
.If a metal is detected it sends the signal data to controller and with the help of GPS it indicates
the latitude and longitude of the exact position. GSM indicates attention command and send the
information in the form of SMS. If the robot detects the land mine, it sends the radio signal by
FM transmission. However the GSM fails to work, When the sky bears air masses. When there is
no provision of GSM networks it is difficult for communication.
S. M.Hines and C.Rappaport proposed the localization of anti personal landmines using ground
penetrating RADAR. In this Finite Difference Time Domain spatial resolution is used. Temporal
resolution is used for the purpose of modeling GPR. Time of flight is determined by correlation
of target signal. Ground penetrating radar is used for humanitarian demining to detect and
localize the metal mines. The drawbacks of the system are that the plastics mines are hard to
detect especially in the presence of scrap metal or explosive residue. It can be implemented only
in the case of single type of metal.
T. Maki K. Habib designed the Coordinated Multi Robotic System for Demining Activities. Here
the behavioral phase of robot motion is employed here. This phase is use to generate a zigzag
motion that is suitable to search the lanes of an assigned sector. The zigzag motion enables the
robot to execute effective search for mines and avoid possible detected obstacle within any lane
the robot is negotiating at the time. However, it cannot detect the dead locks and it does not give
the exact longitudinal and the latitudinal location of mine.
U. Khaled M.S. Foda, Mohamed H. Wahdan, Khaled A. AlAmeri proposed the Controlling a
Robot Arm Using Exoskeleton for Land-Mines Disposal. Here this system comprises of
exoskeleton system to measure the angles of each joint of human arm. It controls the movement
of vehicle that holds the robot arm. Vision system is used to transmit video from the mobile
camera and the user can see the surrounding area. Due to large size of the equipment exploring
the mine is difficult and there exists a delayed communication between the user and the robot
interface.
V. Vidyashree K. P, Aishwarya Mine detection robot and related humanitarian technology. In this
is a portable robotic device was developed for humanitarian demining purposes. In this system
Arduino board is used. Metal detecting VLF sensor is implemented to detect land mine. Here
active RF sensors are used to detect RF tags. The main drawbacks of the existing it has reduced
communication range for the control of the robot. It does not allow real time control
simultaneously of two of the four Degrees of Freedom (DoF) available.

EXISTED SYSTEM:
The effectiveness of any technology is often evaluated by minimizing accidents to the operators
specifically to those landmines that for any reason were moved away from their original position.
To solve this concern, some countries nowadays performed the detection of buried landmines using
several other methods, such as using dogs that sniff the explosive contents of the mines. Various
techniques used for the detection of land mines. Minesweeping and removing landmines carry
certain risks and can be slow and costly. Employing an autonomous robot in the process of detecting
mines will ensure the safety of local residents and those who are engaged in the mines weeping work and
the demining process. A landmine-detecting robot sweeps the ground to detect the existence of a
mine. The robot can use multiple sensors to search for mines. The current technologies fall under
five main areas metal detector technologies, electromagnetic methods, acoustic/seismic
methods, biological methods, and mechanical methods. Thesetechnologies will be discussing in the
following subsections.
2.1 Metal Detector Methods
For mine detection, the metal detector is used to measure the disturbance of an emitted
electromagnetic field caused by the presence of metallic objects in the soil. The
popular, basic metal detector is easy and cheap to use and has anaverage success rate. However, when
using more sensitive detectors for plastic mines, all metallic objects are identified while the problem
is heightened. Approximately 80% of all clearance accidents occur during the investigation of
metal signatures. Landmines that for any reason were moved away from their original horizontal
position mainly cause accidents.
2.2 Electromagnetic Methods
A number of innovative methods are being explored to search for buried mines based on changes in the
electromagnetic properties of the surface soil and shallow subsurface. These methods include
ground-penetrating radar (GPR) , electrical impedance tomography (EIT), x-ray backscatter, and
infrared/hyper spectral systems For example, GPR detects buried objects by emitting radio waves into the
ground and then analyzing the return signals generated by reflections of the waves at
the boundaries of materials with different indexes of refraction caused by differences in electrical
properties.
 2.3 Acoustic/Seismic Methods
Acoustic/seismic methods look for mines by vibrating them with sound or seismic waves that introduced
into the ground. Materials with different properties vibrate differently when exposed to sound waves.
These methods are complementary to existing sensors with low false alarm rates and are unaffected
by moisture and weather. Existing systems are slow and they do not detect mines at
depth, because the resonant response attenuates significantly with depth. An additional limitation
of existing systems is that moderate to heavy vegetation can interfere with the laser Doppler vibro
meters that commonly used to sense the vibrations at the ground surface.
2.4 Biological Methods
Biological detection methods involve the use of mammals, insects, or microorganisms to detect
explosives. Like chemical sensors, these methods rely on detection of explosive compounds
rather than on detection of metal or changes in the physical properties of the subsurface. Thus,
they have the potential for reducing false alarm rates from metal clutter. Biological- sensing
technology requires an understanding of how explosives migrate away from landmines as well as
knowledge of the chemical and physical principles of the sensor.
2.5 Mechanical Methods
Clearing minefields by modified tanks or trucks is also a common method. It does not need sensors and
is efficient on a suitable ground. Chains attached on a rotating roller are hitting the ground in
order to explode or destroy mines. Another possibility is to mount ploughs in front of a tank,
which dig out the mines, and moves them away, mostly without exploding. Mine ploughs are slow
(6.5km/h), but used in conjunction with rollers, this system can provide a virtually 100 per cent
mine clearance effectiveness.
PROPOSED SYSTEM:
The system will be mainly composed of a central unit that is responsible of receiving
information, and a moving robot-pi unit for detecting, data collecting and transferring to the
central unit. This latter is the automated detector that is supposed to replace human detectors. It is
implemented with as low cost as possible to render its replacement affordable in case of a sudden
explosion because of undetected mine.
Human detectors will in this case act as mentors to control the unit. This will guarantee a high
reduction of risk on their lives. Robot-pi unit will communicate wirelessly with the central unit to
send the detected information as soon as collecting them. This will insure the receiving of all
necessary data even in case of losing the unit. Information transferred is typically the location of
each detected suspected object and images from that location. A list of the use cases targeted in
the proposed system is shown in Figure For confidentiality, system access should require
credentials for data security and confidentiality. This will be done by allowing only authorized
soldiers or humanitarian detectors to control the system. A sequence diagram of the system
functionality scenario is represented in Figure 3, where the steps done by the three actors of the
system, central unit, Robot-Pi unit and human detector are illustrated in order of executing. And a
pir sensor is placed with the robot for detecting the persons which are not authorized to be near
landmine places.
 BLOCK DIAGRAM

ROBOT SECTION:
 BLOCK DIAGRAM DESCRIPTION

Power Supply: This section is meant for supplying Power to all the sections mentioned above.It
basically consists of a Transformer to step down the 230V ac to 9V ac followed by diodes. Here
diodes are used to rectify the ac to dc. After rectification the obtained rippled dc is filtered using a
capacitor Filter. A positive voltage regulator is used to regulate the obtained dc voltage.
Raspberry pi: Quad-Core 64bit CPU, Wi-Fi & Bluetooth! The Raspberry Pi 3 Model Bis the
third generation Raspberry Pi. This powerful credit-card sized single board computer can be used
for many applications and supersedes the original Raspberry Pi Model B+ and Raspberry
Pi 2 Model
PIR Sensor: When the sensor is idle, both slots detect the same amount of IR, the ambient
amount radiated from the room or walls or outdoors. When a warm body like a human or animal
passes by, it first intercepts one half of the PIR sensor, which causes a positive differential
change between the two halves.
Metal Detector: The operation of metal detectors is based upon the principles of electromagnetic
induction. Metal detectors contain one or more inductor coils that are used to interact with
metallic elements on the ground. The single-coil detector illustrated below is a simplified version
of one used in a real metal detector.
Buzzer Section: This section consists of a Buzzer. The buzzer is used to alert / indicate the
completion of process. It is sometimes used to indicate the start of the embedded system by
alerting during start-up.
Driver circuit: L293D is a dual Motor driver motor driver integrated circuit (IC). Motor drivers
act as current amplifiers since they take a low-current control signal and provide a higher-current
signal. This higher current signal is used to drive the motors.

DC Motor: DC motor is an output for this project. And DC motor is connected to Raspberry pi.
And this motor controlled by the Raspberry pi with the respective inputs given by us. Its speed
will be varied according to the speed set by the switches..

HARDWARE COMPONENTS

Raspberry Pi 3 Model(BCM2836)

Raspberry Pi is an ARM (built by using the RISC architecture) based credit card sized
single board computer.

Fig 2.1 Raspberry Pi 3 Model B

 ItbasedoverBroadcomSOC,whichisanincorporatedcircuit thatcoordinatesallparts of a
PC. Raspberry Pi, for the most part, contains a CPU, memory controller and different
peripheralslikeUSB,GPIO,andGPUandsoon,whichallarecoordinatedintoasolitarychip
contrasted with our customary work areapc.

The most recent adaptation of raspberry pi is Raspberry Pi 3 Model B (BCM2837),

which is 10x quicker than its past models. It additionally has remote LAN and Bluetooth
network making it perfect to ease for associated outlines.

Specifications of Raspberry Pi 3 ModelB

SoC Broadcom BCM2837

Instruction Set ARMv8-A

CPU Quad Cortex A53 @ 1.2GHz

GPU 400MHz VideoCore IV

Memory 1GB SDRAM

Power Micro USB socket 5V, 2A

Dimensions 85 x 56 x 17mm

GPIO 40 Pins

USB 4 x USB 2.0 Connector

Ethernet 10/100

Wireless 802.11n / Bluetooth 4.0

Video Output HDMI/Composite

Audio Output HDMI/Headphone

Storage Micro-SD

Table 2.1: Specifications of Raspberry Pi 3 Models

 Raspberry Pi 3 Model B GPIO PinDescription

Broadly useful information/yield (GPIO) is a non-specific stick on an incorporated

circuit, which can be utilized as information or yield stick, which can be controlled by the
client at runtime. GPIO pins have no exceptional reason described and are unused of course.
The thought is that occasionally the framework integrator constructing a full framework that
uses the chip may think that it’s valuable to have a bunch of extra computerized control lines,
and having these accessible from the chip can maintain a strategic distance from the exertion
of arranging extra hardware to give them. GPIO can be able to do one or more capabilities
listed below
Fig 2.2 GPIO Pin Diagram for Raspberry Pi3 Model B
  GPIO pins can be designated as an input oroutput.
 GPIO pins can beenabled/disabled.
 GPIO pins Input esteems are clear (normally high=1,low=0).
 GPIO pins Output esteems arewritable/meaningful.
 GPIO pins Input esteems can frequently be utilized as Interrupt Requests (IRQs),
commonly for wakeupoccasions.

RaspberryPi3 ModelBcontainsatotalof40 GPIO pinsfromwhich26 pinsareavailable to use.

Pins 2, 4 are correlated with 5v control supply. 1, 17 are correlated with the 3.3v, remaining
pins are correlated with ground and other leftover pins are UART, GPIO, I2C, and SPI.

Quantum QHM495LM 25MP Web Camera:

Stay connected with your loved ones. Your loved one might be miles apart, but the Quantum
QHM495LM 25MP webcam bridges the distance with life-like picture quality and excellent
sound reproduction. It has a built-in microphone that helps you to chat with them online and
enjoy clear conversation in a video call. Simply clip this 6 led webcam on your PC or laptop and
start chatting without downloading any drivers. The web camera also has six lights that
automatically switch on in the dark. It also has 16 special effects and 10 backgrounds frames. Pep
up your images in these frames and add special effects for added fun. Clean Picture, Clear Sound.
This USB webcam with mic comes with high speed USB 2.0 interface. The webcam also offers
great camera resolution and is available with AWB (Automatic Whiteness Balance) so that you
get clear and natural images. The Quantum 25MP night vision webcam has some advanced
features like brightness control, sharpness control and adjust that help you get the expected high-
quality image output. With the CMOS sensor incorporated in this webcam, the images are
rendered with supreme quality. It is the most easy and amazing way to feel close to your loved
ones while you enjoy face-to-face chats with them. 10x digital zoom. Six white lights. Built-in
sensitive microphone. Snap shot mode for taking all pictures. Adjustable brightness, sharpness
and color. Anti-flicker. Comes with AWB (Automatic Whiteness Balance).

Power Supply:
The power supply is designed to convert high voltage AC mains electricity to a suitable
low voltage supply for electronic circuits and other devices. A power supply can by broken down
into a series of blocks, each of which performs a particular function. A D.C. power supply which
maintains the output voltage constant irrespective of a.c mains fluctuations or load variations is
known as “Regulated D.C Power Supply”
For example a 5V regulated power supply system as shown below:

Fig 22: Functional Block Diagram of Power supply

Transformer:
A transformer is an electrical device which is used to convert electrical power from one
electrical circuit to another without change in frequency.
Transformers convert AC electricity from one voltage to another with little loss of power.
Transformers work only with AC and this is one of the reasons why mains electricity is AC.
Step-up transformers increase in output voltage, step-down transformers decrease in output
voltage. Most power supplies use a step-down transformer to reduce the dangerously high mains
voltage to a safer low voltage. The input coil is called the primary and the output coil is called
the secondary. There is no electrical connection between the two coils; instead they are linked by
an alternating magnetic field created in the soft-iron core of the transformer. The two lines in the
middle of the circuit symbol represent the core. Transformers waste very little power so the
power out is (almost) equal to the power in. Note that as voltage is stepped down current is
stepped up. The ratio of the number of turns on each coil, called the turn’s ratio, determines the
ratio of the voltages. A step-down transformer has a large number of turns on its primary (input)
coil which is connected to the high voltage mains supply, and a small number of turns on its
secondary (output) coil to give a low output voltage.

Fig 23: An Electrical Transformer

Turns ratio = Vp/ VS = Np/NS
Power Out= Power In
VS X IS=VP X IP
Vp = primary (input) voltage
Np = number of turns on primary coil
Ip  = primary (input) current    

Rectifier:
A circuit, which is used to convert a.c to dc, is known as RECTIFIER. The process of
conversion a.c to d.c is called “rectification”
Types of Rectifiers:
 Half wave Rectifier
 Full wave rectifier
 1. Center tap full wave rectifier.
2. Bridge type full bridge rectifier.

Full-wave Rectifier:
From the above comparisons we came to know that full wave bridge rectifier as more
advantages than the other two rectifiers. So, in our project we are using full wave bridge rectifier
circuit.
Bridge Rectifier:
A bridge rectifier makes use of four diodes in a bridge arrangement to achieve full-wave
rectification. This is a widely used configuration, both with individual diodes wired as shown and
with single component bridges where the diode bridge is wired internally.

A bridge rectifier makes use of four diodes in a bridge arrangement as shown in fig (a)
to achieve full-wave rectification. This is a widely used configuration, both with individual
diodes wired as shown and with single component bridges where the diode bridge is wired
internally.

Fig(24.A):

Operation:
During positive half cycle of secondary, the diodes D2 and D3 are in forward biased
while D1 and D4 are in reverse biased as shown in the fig(b). The current flow direction is
shown in the fig (b) with dotted arrows.
 Fig(24.B)
During negative half cycle of secondary voltage, the diodes D1 and D4 are in forward
biased while D2 and D3 are in reverse biased as shown in the fig(c). The current flow direction is
shown in the fig (c) with dotted arrows.

Fig(24.C)

Filter:
A Filter is a device, which removes the a.c component of rectifier output but allows the d.c
component to reach the load.
Capacitor Filter:
We have seen that the ripple content in the rectified output of half wave rectifier is 121%
or that of full-wave or bridge rectifier or bridge rectifier is 48% such high percentages of ripples
is not acceptable for most of the applications. Ripples can be removed by one of the following
methods of filtering:
(a) A capacitor, in parallel to the load, provides an easier by –pass for the ripples voltage though
it due to low impedance. At ripple frequency and leave the d.c.to appears the load.
(b) An inductor, in series with the load, prevents the passage of the ripple current (due to high
impedance at ripple frequency) while allowing the d.c (due to low resistance to d.c)
(c) various combinations of capacitor and inductor, such as L-section filter section filter,
multiple section filter etc. which make use of both the properties mentioned in (a) and (b) above.
Two cases of capacitor filter, one applied on half wave rectifier and another with full wave
rectifier.
Filtering is performed by a large value electrolytic capacitor connected across the DC
supply to act as a reservoir, supplying current to the output when the varying DC voltage from
the rectifier is falling. The capacitor charges quickly near the peak of the varying DC, and then
discharges as it supplies current to the output. Filtering significantly increases the average DC
voltage to almost the peak value (1.4 × RMS value).
To calculate the value of capacitor(C),
C = ¼*√3*f*r*Rl
Where,
f = supply frequency,
r = ripple factor,
Rl = load resistance
Note: In our circuit we are using 1000microfarads.

Type of Rectifier
Parameter Half wave Full wave Bridge
Number of diodes
1 2 4
PIV of diodes
Vm 2Vm Vm

D.C output voltage Vm/ 2Vm/ 2Vm/

Vdc, at 0.318Vm 0.636Vm 0.636Vm

no-load

Ripple factor 1.21 0.482 0.482

Ripple
frequency f 2f 2f
Rectification
efficiency 0.406 0.812 0.812
 Transformer
Utilization 0.287 0.693 0.812
Factor(TUF)
RMS voltage Vrms Vm/2 Vm/√2 Vm/√2

Table: Comparison of rectifier circuits:

Regulator:
Voltage regulator ICs is available with fixed (typically 5, 12 and 15V) or variable output
voltages. The maximum current they can pass also rates them. Negative voltage regulators are
available, mainly for use in dual supplies. Most regulators include some automatic protection
from excessive current ('overload protection') and overheating ('thermal protection'). Many of the
fixed voltage regulator ICs have 3 leads and look like power transistors, such as the 7805 +5V 1A
regulator shown on the right. The LM7805 is simple to use. You simply connect the positive lead
of your unregulated DC power supply (anything from 9VDC to 24VDC) to the Input pin, connect
the negative lead to the Common pin and then when you turn on the power, you get a 5 volt
supply from the output pin.

Fig 25: A Three Terminal Voltage Regulator

78XX:
The Bay Linear LM78XX is integrated linear positive regulator with three terminals. The
LM78XX offer several fixed output voltages making them useful in wide range of applications.
When used as a zener diode/resistor combination replacement, the LM78XX usually results in an
effective output impedance improvement of two orders of magnitude, lower quiescent current.
The LM78XX is available in the TO-252, TO-220 & TO-263packages,
Features:
• Output Current of 1.5A
• Output Voltage Tolerance of 5%
• Internal thermal overload protection
• Internal Short-Circuit Limited
• No External Component
• Output Voltage 5.0V, 6V, 8V, 9V, 10V, 12V, 15V, 18V, 24V
• Offer in plastic TO-252, TO-220 & TO-263
• Direct Replacement for LM78XX
Metal Detector

PIR sensor detects a human being moving around within approximately 10m from the sensor.
This is an average value, as the actual detection range is between 5m and 12m.PIR are
fundamentally made of a pyro electric sensor, which can detect levels of infrared radiation.
For numerous essential projects or items that need to discover when an individual has left or
entered the area. PIR sensors are incredible, they are flat control and minimal effort, have a wide
lens range, and are simple to interface with.

PIR Sensor

Most PIR sensors have a 3-pin connection at the side or bottom. One pin will be ground, another
will be signal and the last pin will be power. Power is usually up to 5V. Sometimes bigger
modules don’t have direct output and instead just operate a relay which case there is ground,
power and the two switch associations. Interfacing PIR with microcontroller is very easy and
simple. The PIR acts as a digital output so all you need to do is listening for the pin to flip high or
low. The motion can be detected by checking for a high signal on a single I/O pin. Once the
sensor warms up the output will remain low until there is motion, at which time the output will
swing high for a couple of seconds, then return low. If motion continues the output will cycle in
this manner until the sensors line of sight of still again. The PIR sensor needs a warm-up time
with a specific end goal to capacity fittingly. This is because of the settling time included in
studying nature’s domain. This could be anyplace from 10-60 seconds.

Throughout this time there ought to be as little movement as could reasonably be expected in the
sensors field of perspective.

7 areas of Applications of PIR Sensors   

 All outdoor Lights

 Lift Lobby
 Multi Apartment Complexes
 Common staircases
 For Basement or Covered Parking Area
 Shopping Malls
 For garden lights
5 Features

1. Complete with PIR, Motion Detection.

2. Dual Element Sensor with Low Noise and High Sensitivity.
3. Supply Voltage – 5V.
4. Delay Time Adjustable.
5. Standard TTL Output.
PIR Sensor IC

The PIR sensor IC consists of 3 pins-  Vcc, Ground and Output.

In presence of human IR radiations, the sensor detects the radiations and converts it directly to
electrical pulses, which is fed to the inverter circuit. The inverter circuit consists of a transistor,
which gets into saturation with application of high base current and eventually develops a low
collector voltage. Thus the transistor output is low.

This low inverter output is connected to the microcontroller. Based on the input received by the
microcontroller, it controls the motor driver, which in turn controls the motion of the motor.
Motion Detection using PIR Sensor

A PIR or a Passive Infrared Sensor can be used to detect presence of human beings in its
proximity. The output can be used to control the motion of door.

Basically motion detection use light sensors to detect either the presence of infrared light emitted
from a warm object or absence of infrared light when a object interrupts a beam emitted by
another part of the device.

A PIR sensor detects the infrared light radiated by a warm object. It consists of pyro electric
sensors which introduce changes in their temperature (due to incident infrared radiation) into
electric signal. When infrared light strikes a crystal, it generates an electrical charge.

Thus a PIR sensor can be used to detect presence of human beings within a detection area of
approximately 14 meters.

Metal Detector:

Nowadays, the metal detector is used to identify metallic devices such as bombs, guns for
security purpose. To avoid any illegal or unauthorized entry of metallic objects, bombs, knives,
guns within the luggage bags of the person carrying them in public places like theatres, shopping
malls, parks, airports, hotels, railway stations. A security system is developed by using proximity
sensor which is named as a metal detector. So, a metal detector is used in many robotic
or electronics projects  to detect any present metals which are nearby or the existence of hidden
items within objects. This article gives an overview of metal detector working principle and
applications
 .

What is Metal Detector?

In the year 1960, the first metal detector was established and was used in industrial applications
and mineral prospecting. A metal detector is an electronic device that comprises of an oscillator
which generates an AC current that passes via a coil generating an alternating magnetic field.
When a part of the metal is nearby to the coil, eddy current will be induced in the metal object &
this generates a magnetic field of its own. If an extra coil is used to measure the magnetic field,
the magnetic field can be changed and sensed due to the metal object. The metal detectors are
used to sense the weapons and also used in the construction industry to identify the steel
reinforcing bars in pipes, concrete, wires, pipes buried in walls & floors.

Metal detector types are classified into three types such as BFO (Beat Frequency Oscillation),
TR( Transmitter or Receiver) and VLF(Very Low frequency)

How Does a Metal Detector Work?

The metal detector working is, when the electromagnetic field is transmitted from the search coil
into the earth. Metals in the electromagnetic field will become strengthened & resend an
electromagnetic of their own. The metal detector comprises of a search coil which receives the
retransmitted field & alarms the user by generating a response of the metal. Minelab metal
detectors are accomplished by discriminating between  dissimilar types of targets and can be

fixed to ignore unwanted metal objects.

Working of a Metal Detector

Battery

The main purpose of the battery is to provide the power to the detector.

Control Box

The control box coprises of the electronics of the detector. When the transmit signal is generated,
the receive signal is processed and transformed into a target response.

Search Coil

The electromagnetic field  can be transferred by the search coil of the detector into the ground & 
receives the electromagnetic field  return from a metal object.

Electromagnetic Field Transmission

The transmitted electromagnetic field energizes metal objects to allow them to be sensed.

Target

Here, a target is a metal object that can be sensed by a metal detector. In this, the target is treasure
which is sensed and that is a good target.

Undesirable Target
These metal objects are generally attracted to a magnet like nails and also non-ferrous like bottle
tops. If the metal detector is fixed to discard unwanted targets, then the response of the target will
not be generated for those targets.

Receive Electromagnetic Field

The receive electromagnetic field is produced from energized targets & it is received by the
search coil

Response of the Target

When the metal detector detects the metal object, then it generates an audible sound like a beep.
Various Minelab detectors also generate a visual display of target information.

Metal Detector Circuit Diagram

The metal detector circuit built with an LC circuit, buzzer and simple proximity sensor. In LC
circuit, capacitor and inductor are connected in parallel. When the circuit detects any metal near
to it, then the circuit activates the proximity sensor and its glow the LED and makes a buzzer.

Metal Detector Circuit

When this circuit has any resonating frequency from any target which is near to it, then the
electric field will be created, which will lead to induce current in the coil and change the S/L in
the flow of the S/L through the coil.
The value of the sensor can be changed by using a variable resistor that is equal to the LC circuit.
When the metal is detected, the circuit will have new signal and respond accordingly. When the
metal object is sensed by the coil, the sensor’s o/p will be of 1mA. When the coil is close to the
target, then the o/p of the sensor will be around 10mA.

When the output pin is high, the resistor R3 will offer a positive voltage to the Q1 transistor to
turn ON the LED, which will glow and generate a buzzer sound. Here, resistor R2 is mainly used
to restrict the current flow.

Buzzer

A buzzer or beeper is a signaling device, usually electronic, typically used in automobiles,

household appliances such as a microwave ovens, & game shows.

The word "buzzer" comes from the rasping noise that buzzers made when they were
electromechanical devices, operated from stepped-down AC line voltage at 50 or 60 cycles. Other
sounds commonly used to indicate that a button has been pressed are a ring or a beep.

The "Piezoelectric sound components" introduced herein operate on an innovative principle

utilizing natural oscillation of piezoelectric ceramics. These buzzers are offered in lightweight
compact sizes from the smallest diameter of 12mm to large Piezo electric sounders. Today,
piezoelectric sound components are used in many ways such as home appliances, OA equipment,
audio equipment telephones, etc. And they are applied widely, for example, in alarms, speakers,
telephone ringers, receivers, transmitters, beep sounds, etc.

Fig: Types of Buzzers

Oscillating System:

Basically, the sound source of a piezoelectric sound component is a piezoelectric

diaphragm. A piezoelectric diaphragm consists of a piezoelectric ceramic plate which has
electrodes on both sides and a metal plate (brass or stainless steel, etc.). A piezoelectric ceramic
plate is attached to a metal plate with adhesives.

Fig. 2 shows the oscillating system of a piezoelectric diaphragm. Applying D.C. voltage
between electrodes of a piezoelectric diaphragm causes mechanical distortion due to the
piezoelectric effect. For a misshaped piezoelectric element, the distortion of the piezoelectric
element expands in a radial direction. And the piezoelectric diaphragm bends toward the
direction shown in Fig.2 (a).

The metal plate bonded to the piezoelectric element does not expand. Conversely, when
the piezoelectric element shrinks, the piezoelectric diaphragm bends in the direction shown in
Fig.2 (b). Thus, when AC voltage is applied across electrodes, the bending shown in Fig.2 (a) and
Fig.2 (b) is repeated as shown in Fig.2 (c), producing sound waves in the air.

DESIGN PROCEDURES:

In general, man's audible frequency range is about 20 Hz to 20kHz. Frequency ranges of

2kHz to 4kHz are most easily heard. For this reason, most piezoelectric sound components are
used in this frequency range, and the resonant frequency (f0) is generally selected in the same
range too. As shown in Fig. 3, the resonant frequency depends on methods used to support the
piezoelectric diaphragm. If piezoelectric diaphragms are of the same shape, their values will
become smaller in the order of (a), (b) and (c).

In general, the piezoelectric diaphragm is installed in a cavity to produce high sound

pressure. The resonant frequency (fcav) of the cavity in is obtained from Formula (1)
(Helmholtz's Formula). Since the piezoelectric diaphragm and cavity have proper resonant
frequencies, (f0) and (fcav) respectively, sound pressure in specific frequencies can be increased
and a specific bandwidth can be provided by controlling both positions.

Initially this device was based on an electromechanical system which was identical to an
electric bell without the ‘metal gong’ (which makes the ringing noise). Often these units were
anchored to a wall or ceiling and used the ceiling or wall as a sounding board. Another
implementation with some AC-connected devices was to implement a circuit to make the AC
current into a noise loud enough to drive a loudspeaker and hook this circuit up to a cheap 8-ohm
speaker.

Nowadays, it is more popular to use a ceramic-based piezoelectric sounder like a Sonalert

which makes a high-pitched tone. Usually these were hooked up to "driver" circuits which varied
the pitch of the sound or triggered the sound ON and OFF. In game shows it is also known as a
"lockout system," because when one person signals ("buzzes in"), all others are locked out from
signaling. Several game shows have large buzzer buttons which are identified as "plungers".
 In this project the Buzzer is used to alert the user. The user is alerted in the
conditions such as start of the system, an unhealthy condition being prevailed which is needed to
be avoided, the card inserted is not valid.

DC Motor

DC motors are configured in many types and sizes, including brush less, servo, and gear
motor types. A motor consists of a rotor and a permanent magnetic field stator. The magnetic
field is maintained using either permanent magnets or electromagnetic windings. DC motors are
most commonly used in variable speed and torque.

Motion and controls cover a wide range of components that in some way are used to
generate and/or control motion. Areas within this category include bearings and bushings,
clutches and brakes, controls and drives, drive components, encoders and resolves, Integrated
motion control, limit switches, linear actuators, linear and rotary motion components, linear
position sensing, motors (both AC and DC motors), orientation position sensing, pneumatics and
pneumatic components, positioning stages, slides and guides, power transmission (mechanical),
seals, slip rings, solenoids, springs.

Motors are the devices that provide the actual speed and torque in a drive system.  This
family includes AC motor types (single and multiphase motors, universal, servo motors,
induction, synchronous, and gear motor) and DC motors (brush less, servo motor, and gear
motor) as well as linear, stepper and air motors, and motor contactors and starters.

In any electric motor, operation is based on simple electromagnetism. A current-carrying

conductor generates a magnetic field; when this is then placed in an external magnetic field, it
will experience a force proportional to the current in the conductor, and to the strength of the
external magnetic field. As you are well aware of from playing with magnets as a kid, opposite
(North and South) polarities attract, while like polarities (North and North, South and South)
repel. The internal configuration of a DC motor is designed to harness the magnetic interaction
between a current-carrying conductor and an external magnetic field to generate rotational
motion.
 Let's start by looking at a simple 2-pole DC electric motor (here red represents a magnet
or winding with a "North" polarization, while green represents a magnet or winding with a
"South" polarization).

Fig 25: Block Diagram of the DC motor

Every DC motor has six basic parts -- axle, rotor (a.k.a., armature), stator, commutator,
field magnet(s), and brushes. In most common DC motors (and all that Beamers will see), the
external magnetic field is produced by high-strength permanent magnets 1. The stator is the
stationary part of the motor -- this includes the motor casing, as well as two or more permanent
magnet pole pieces. The rotor (together with the axle and attached commutator) rotates with
respect to the stator. The rotor consists of windings (generally on a core), the windings being
electrically connected to the commutator. The above diagram shows a common motor layout --
with the rotor inside the stator (field) magnets.

The geometry of the brushes, commutator contacts, and rotor windings are such that
when power is applied, the polarities of the energized winding and the stator magnet(s) are
misaligned, and the rotor will rotate until it is almost aligned with the stator's field magnets. As
the rotor reaches alignment, the brushes move to the next commutator contacts, and energize the
next winding. Given our example two-pole motor, the rotation reverses the direction of current
through the rotor winding, leading to a "flip" of the rotor's magnetic field, and driving it to
continue rotating.

In real life, though, DC motors will always have more than two poles (three is a
very common number). In particular, this avoids "dead spots" in the commutator. You can
imagine how with our example two-pole motor, if the rotor is exactly at the middle of its rotation
(perfectly aligned with the field magnets), it will get "stuck" there. Meanwhile, with a two-pole
motor, there is a moment where the commutator shorts out the power supply (i.e., both brushes
touch both commutator contacts simultaneously). This would be bad for the power supply, waste
energy, and damage motor components as well. Yet another disadvantage of such a simple motor
is that it would exhibit a high amount of torque” ripple" (the amount of torque it could produce is
cyclic with the position of the rotor).

Fig 26: Block Diagram of the DC motor having two poles only

So since most small DC motors are of a three-pole design, let's tinker with the
workings of one via an interactive animation (JavaScript required):

Fig 27: Block Diagram of the DC motor having Three poles

You'll notice a few things from this -- namely, one

pole is fully energized at a time (but two others are "partially" energized). As each brush
transitions from one commutator contact to the next, one coil's field will rapidly collapse, as the
next coil's field will rapidly charge up (this occurs within a few microsecond). We'll see more
about the effects of this later, but in the meantime you can see that this is a direct result of the coil
windings' series wiring:

Fig 28: Internal Block Diagram of the Three pole DC motor

There's probably no better way to see how an average dc motor is put together, than by
just opening one up. Unfortunately this is tedious work, as well as requiring the destruction of a
perfectly good motor. This is a basic 3-pole dc motor, with 2 brushes and three commutator
contacts.

L293D:
The L293 is an integrated circuit motor driver that can be used for simultaneous, bi-directional
control of two small motors. Small means small. The L293 is limited to 600 mA, but in reality
can only handle much small currents unless you have done some serious heat sinking to keep the
case temperature down. Unsure about whether the L293 will work with your motor? Hook up the
circuit and run your motor while keeping your finger on the chip. If it gets too hot to touch, you
can't use it with your motor. (Note to ME2011 students: The L293 should be OK for your small
motor but is not OK for your gear motor.)
The L293 comes in a standard 16-pin, dual-in line integrated circuit package. There is an L293
and an L293D part number. Pick the "D" version because it has built in fly back diodes to
minimize inductive voltage spikes.

The pin out for the L293 in the 16-pin package is shown below in top view. Pin 1 is at the top left
when the notch in the package faces up. Note that the names for pin functions may be slightly
different than what is shown in the following diagrams.

The following schematic shows how to connect the L293 to your motor and the Stamp. Each
motor takes 3 Stamp pins. If you are only using one motor, leave pins 9, 10, 11, 12, 13, 14, and
15 empty.
Assume you have only one motor connected with the enable tied to Stamp Pin 0, and the two
direction controls tied to Stamp Pins 1 and 2.

Here is a table describing the control pin functions.

ENABLE DIRA DIRB Function

H H L Turn right

H L H Turn left

H L/H L/H Fast stop

L either either Slow stop

 And here is a short sample program that exercises the L293.

advantage: 

You can control 2 motors in both directions instead of 4 in only one direction. 

Disadvantages: 

There is a 1.5V voltage drop within the L293D driver chip.

 SOFTWARE DESCRIPTION

This chapter gives a brief introduction and in-detailed explanation of software’s used
in this project. Which includes an operating system, programming language, and other
software applications.

Linux OperatingSystem

Evolution of computer:

In earlier days, every soft ware was developed to serve as specific purpose which
cannot be used for any other purposes. And also it was more costly which cannot be afforded
by a normalperson.

Evolution of UNIX:

Inbetween1963-1969,Belllaboratoriescomputersciencesresearchcenterdeveloping a
mainframe time-sharing operating system called Multics, which is based around the concept
of a single-level memory. Bell labs quit financing the Multics project, yet a gathering of
software engineers, including Dennis Ritchie and Ken Thompson, kept working with the
Multics project standards, from which UNIX was produced in1969.

First edition of UNIX was released by Dennis Ritchie on November 3, 1971. And it
includes over software commands like:

 Boot - to reboot thesystem.

 b - to compile Bprogram.
 Chmod - to change the accessmode.
 Chown - to change owner.
 Ls- to list directory contents.
 Mv- move or rename thefile.
 cp - to copy files.
 cat - concatenatefiles.
 wc - to get a wordcount.
Evolution of Linux:

Linux is a free and open-source operating system created by Linus Torvalds in 1991.
Anoperatingsystemissimplyacollectionofsoftwarewhichiscapableofmanaginghardware
resources and provides an environment where applications can run, it can also allow
applications to store information, send documents to printers and other things. The kernel is
the core of the Linux operating system, it runs on numerous different platforms including the
Alpha and Intel platform, and Linux kernel is available under the GNUGPL.

Linux part is an interface between the equipment and programming, however keeping
in mind the end goal to have a completely helpful working framework, a framework requires
libraries,graphicalUI,internetbrowsersanddifferentprojectsnotwithstandingtheportion.As
Linux is an open source programming. It is allowed to utilize, duplicate, study and change the
product as required by the designers. Right now, Linux has prompted the ascent of Linux
dispersions. Linux dissemination is the blend of Linux bit and another programming's as one
make a workingframework.

Linux is being utilized by a great many clients around the globe. It keeps running on
different equipment stages from devoted systems administration gadgets to telephones to PCs
and even supercomputers. Linux is mostly used for server applications, which means it is
capable to host websites, act as a file server and can run database software.

Some of Linux distributions:

 Cent OS

 Chrome OS

 Debi an

 Fedora
 Raspbian

 Red HatLinux

 Ubuntu

 ArchLinux
 Raspbian Operating System

RaspbianisaPCworkingframeworkforRaspberryPi,whichwasproducedinlightof Linux
Kernel. Also, is advanced to chip away at Raspberry Pi equipment. Raspbian was made by
Mike Thompson and Peter Green in June 2012, the Raspbian working framework is still
under dynamic advancement and the most recent form of the Raspbian working framework is
Stretch, which was released in August 2017.Bydefault,theRaspbianoperatingsystemcomes
with a full Graphical User Interface and mostly useful utility softwareinstalled.

Installing an Operating system into Raspberry Pi3

Raspberry Pi supports various operating systems to run on it. A few operating systems
which support Raspberry pi includes Raspbian OS, RISC OS, Windows 10 IoT Core, Plan 9
and Free BSD and many other operating systems. The most preferred and official operating
system for Raspberry Pi is a Raspbian operating system, which is a Linux kernel distribution.
The Raspbian can be installed in two ways those are:

Installing Operating System usingNOOBS

NOOBS is the abbreviation for New Out of the Box Software, It lets the user choose a
preferred operating system and install in Raspberry Pi.

Step 1: Download and Extract NOOBS

The NOOBS software can be downloaded from Raspberry Pi official site as a zipped
format file, which lists two versions of NOOBS software’s

NOOBS:itisanoperatingsysteminstaller,whichispreloadedwithRaspbianandLibreELEC
operatingsystems.TheusercanselectanyoneoftheoperatingsystemstoinstallonRaspberry Pi.
Apart from the above two operating systems NOOBS can be able to download other
operating systems through the network and install it on RaspberryPi.
 NOOBS Lite: it is an operating system installer, which doesn't come with preloaded
operating systems instead it gives an option for the user to select and install all available
operating systems which are supported by Raspberry Pi.
 Fig 3.1 NOOBS Software in Raspberry Pi Official Website

After downloading NOOBS/NOOBS Lite extract the zipped file using 7Zip preferably.

Step 2: Format the micro SD Card using the File Explorer or using any Formatting software.

Fig 3.2 SD Formatter Software

Step 3: Copy the extracted NOOBS/NOOBS Lite files into formatted micro SD Card.
Step4: Put micro SD Card which contains extracted NOOBS/NOOBS Lite files into
Raspberry Pi and Boot it up. After booting, the Raspberry Pi shows a menu that lets you
choose which operating system you'd like to install and then choose your preferred operating
system and click on install. Raspberry Pi will install that operating system, complete the boot
and load the respective operating system.
 Fig 3.3 NOOBS Software Menu

Installing Raspbian Operating System without using NOOBS Step

1: Download Raspbian
Download Raspbian operating system disk image from Raspberry Pi official website

This is available in zipped format.

Fig 3.4 Raspbian Operating System in Raspberry Pi Official Website

Step 2: Unzip the File

Unzip the downloaded zipped file, which contains Raspbian operating system disk
image. The unzipping must be done by the software that uses ZIP64 unzipping format. Mostly
used software’s are 7Zip for windows operating system, The Unachieved application for Mac
operating system and Unzip for Linux operating system.
Step 3: Write Raspbian Disk Image to micro SD Card

Write the Raspbian operating system disk image into micro SD Card using the
appropriate software. Mostly used software’s are Win32 Disk Imager for windows operating
system, The Etcher for Mac and Linux operatingsystem.

Fig 3.5 Win32 Disk Imager Software

Step 4: Put micro SD Card into Raspberry Pi

After the completion of writing the disk image into micro SD Card insert that micro
SD Card into Raspberry Pi and boot it up after completion of booting Raspberry Pi will load
the Raspbian operating system.
 Python ProgrammingLanguage

Introduction toPython

Python is a high-level, general-purpose interpreted and object-oriented programming

language. Python is likewise an open source programming dialect which can be utilized
without purchasing any permit. The development of python was started by Guido van
Rossumin the year 1989 and he made the code public in February1991.

Python is capable of working on different operating systems including windows, Mac,

Linux, Raspberry Pi and many other operating systems. Python syntax is similar to the
English
Language, which has more readable than other, programming languages. Python can be used as
functional, procedural or an object-oriented programming paradigm.

Python version 2 and version 3 are having a huge difference, which should be kept in
mind in order to work with the Python programming language. Python uses a new line to
complete the programming command, whereas other programming languages use
parentheses and, or semicolons. In python, the scope can be decided by indentation and
whitespace for classes, functions, and loops, etc.

Where Python programming language used

It is used for web application development, software development, mathematics,

system scripting and many more applications. Python programming language is used by huge
traffic web applications like Google, YouTube, Quora, Dropbox, Yahoo, Instagram and
many more.

Python ProgrammingSyntax

Fig 3.6 Python Console

Pythonprogramminglanguagedesignedforreadabilitytodevelopersanditssyntaxhas
more similar to the Englishlanguage.
 CONCLUSION

This paper presents an overview of the design, implementation, testing, and performance
of an innovative robotic surveillance vehicle controlled wirelessly by a remote user, developed
for the purpose of directing the movement and detection of the living, nonliving and metal
objects and displaying status feedback to the operator through a web application. The project has
been successfully implemented.

CONCLUSION
Lind mine existence is one of the main concerns that Impedes the retrieval of the normal life
parameters after war to many countries and regions. Detection process of these mines usually
takes a lot of time and effort and hence, it is usually neglected to the last step of priority levels.
The objective of this project was to design and implement an efficient low-cost and small size
automatic land mine detector. This detector is based on a Raspberry Pi minicomputer ship that
will act as the brain of a small robot to automatically detect and transfer the information about
any found metal object to a central unit that will be later responsible of investigating the received
data to benefit from it in determining the location and maybe the danger of the found object and
hence, find a way to extract or disable it. The detection process that was used is based on a metal
detector that can detect metal objects even with no direct contact with them and even if they are
buried to about 10 cm depth. Tests have been done to detect metal objects on different area of
lands and the detector could transfer the required information such as the exact location of the
objects and the images of the area where the object was found with very good precision. The
proposed Robo-pi unit can be considered as a prototype that still need real tests to show its
efficiency.
RESULTS
When making the proposed system the first problem got with metal detector because they are
chap and they are only able to detect metals that are larger than M8 nut. Sometimes, false alarms
are given out due to detecting its own metal component from the circuit. However, this problem
is solved by separating the detecting coil from the circuit with the use of plastic plates. Another
problem arises from the detector is that after the location of the metal has been marked, the
scanning mechanism is supposed to restart and continue looking for another buried metal;
however, it detects back the marked metal which is still in its close proximity. The warning
alarm keeps on signaling without the scanner moving away from the marked area. This is solved
by temporarily switching off the detectors while the scanning mechanism moving away from the
detected metal. The third problem occurs in the DC motors. These motors are not precision
displacement providing motors. They are made to provide speed and torque closest to their
specifications, but not the exact amount. Therefore, the motors installed on the front wheels are
rotating at slightly different speeds which cause the robot to sway towards the slower rotating
wheel’s side. At the same time, the lifting up process of the wheels and interchanging process of
the sets of wheel in order to avoid the mines are also disturbed by the misalignment caused by
the different in speeds of the liftingotors. Thus, speed controllers circuits are installed prior to the
motors in order tom synchronize their speeds before using them in the mine searching process.
However, these minor problems won’t occur in the actual robot since they are caused by the poor
quality of the equipments not due to the concept or design of the robot.
APPLICATION
Can be use in military application
In the military part we were able to get 90% accuracy at this range. Then we placed the metal
object at 5cm under the soil. At this time we got 60% successful result in detecting the metal. At
the end we put the metal object deeper inside the soil (Approx. 10cm). For this range we were
able to get only 50% accuracy in the detection. By averaging all these results we found that this
prototype can detect maximum numbers of mines at the range from 2-5cm beneath the soil
ADVANTAGES
The Robot can operate automatic as well as in manual mode
The mode switching is done very fast without any delay
Robust system.
Low power requirement.
It can search in narrow areas for detection of dangerous materials.
Every country is preparing for a strong army to prevent them from terrorists, the soldier undergo
a particular period of training in the camp and finally they will be shifted to the most dangerous
place of where terrorist area camp, even to protect the borderline between the two countries.

The landmine is the most dangerous weapon that is invented when the World War happened. It
plays a very important role in the period of war and most of the soldiers have lost their life or
body parts due to their inability to detect them. For this, a robot can be used to find the landmine
in the critical areas and also the robot can be controlled by the Wi-Fi and from the webpage The
metal detector is used to find the landmine in the land and map them or mark in the field exactly.
Then they can be easily defused with the help of robot.

DISADVANTAGES

Metal detector because they are chap and they are only able to detect metals that are larger than
M8 nut. Sometimes, false alarms are given out due to detecting its own metal component from
the circuit.

The first is the changes in weather factors led to the disappearance of the mine underground
spaces. The second is the ability to stop the effect of mines without a vision underground. The
third is not only the presence of the mine is required to be discovered; it also needs the robot to
mark the location of the mine with an accuracy of 5cm radius.

FUTURE SCOPE
Since these robots are implemented at the border region they should be designed to be water
proof and should be able to loco mote in the rugged surface as they replace humans at the battle
region it is necessary that the robot will be defense himself and protect our nation from the
enemy. To make robot self-defense they can be designed to be equipped with a robot laser gun.
Being a bomb disposal robot, it requires very fast movement. This is required as the bomb
disposal squad have very less time to defuse the bomb and save the life of the human’s.
Therefore a fast robot is shall to be successful to dispose the bomb.
Multipoint Hand Posture Based Interaction: The proposed work is part of a project that aims at
the control of a robot based on hand gesture recognition. This goal implies the restriction of real-
time response and the use of unconstrained environments. In this we present a new algorithm to
track and recognize hand gestures for interacting with a robot. This algorithm is based on three
main steps: hand segmentation, hand tracking and gesture recognition from hand features. For
the hand segmentation step we use the color cue due to the characteristic color values of human
skin, its invariant properties and its computational simplicity. To prevent errors from hand
segmentation we add the hand tracking as a second step.

REFERENCES
1) http://archives.themonitor.org/index.php/LM/OurResearchProduct/CMM14, Aug 27
[Mar.30,2017].

2) AlaaKhamis “Minesweepers : Facts about landmines, Internet:

http://www.landminefree.org/2016/index.php/ support/facts-aboutlandmines”, Oct. 30 2016
[Mar. 30, 2017 ].

3) A. Mahmoud and H. Farouk, “An Efficient Detection and Classification Method for
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Geology, Vol.4 iss. 4, 2010.

4) L. Robledo, M. Carrasco, and D. Mery, “A survey of land mine detection technology”,

International Journal Of Remote Sensing , Vol. 30 , Iss. 9, 2009.

5) P. Rapillard and M. Walton, “Humanitarian and Developmental Impact of Anti-vehicle

Mines”, Journal of Conventional Weapons Destruction, Vol. 18, Iss. 3 ,2014.

6) M.Kale, V.Ratnaparkhe and A.Bhalchandra, “Sensors for Landmine Detection And

Techniques: A Review”, International Journal of Engineering Research & Technology,
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7) A. Patri, A. Nayak and S. Jayanthu, “Wireless Communication Systems ForUnderground
Mines – A Critical Appraisal “,International Journal of Engineering Trends and Technology
(IJETT), Vol.4, Iss. 7, 2013

8) Facts about Landmines Publication Info (2010, 3, 16)

[Online].Available:http://www.care.org/emergencies/facts-about-landmines

9) J. Bharath, “Automatic Land Mine Detection and Sweeper Robot Using Microcontroller”,
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